9 papers
ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine
Yukang Cao, Haozhe Xie, Beichen Wen +13
The paper presents ACE, a data collection system that records synchronized multimodal streams—including egocentric and multi-view video, full-body and hand motion, object geometry,…
HSImul3R: Physics-in-the-Loop Reconstruction of Simulation-Ready Human-Scene Interactions
Yukang Cao, Haozhe Xie, Fangzhou Hong +4
We present HSImul3R, a unified framework for simulation-ready 3D reconstruction of human-scene interactions (HSI) from casual captures, including sparse-view images and monocular v…
End-to-End Dexterous Grasp Learning from Single-View Point Clouds via a Multi-Object Scene Dataset
Tao Geng, Dapeng Yang, Ziwei Liu +6
Dexterous grasping in multi-object scene constitutes a fundamental challenge in robotic manipulation. Current mainstream grasping datasets predominantly focus on single-object scen…
DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulation
Haozhe Xie, Beichen Wen, Jiarui Zheng +4
Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic sce…
GeneMAN: Generalizable Single-Image 3D Human Reconstruction from Multi-Source Human Data
Wentao Wang, Hang Ye, Fangzhou Hong +5
Given a single in-the-wild human photo, it remains a challenging task to reconstruct a high-fidelity 3D human model. Existing methods face difficulties including a) the varying bod…
Compositional Generative Model of Unbounded 4D Cities
Haozhe Xie, Zhaoxi Chen, Fangzhou Hong +1
3D scene generation has garnered growing attention in recent years and has made significant progress. Generating 4D cities is more challenging than 3D scenes due to the presence of…